A reconfigurable structure is a structure capable of transforming its shape to change its functionality. Inspired by origami and kirigami (which allows cuts), folding offers a path to achieving shape changes that enable multi-functional structures in electronics, robotics, architecture and beyond.

The first part of my PhD work designed kirigami structures that can reconfigure between multiple target configurations. While most previous origami/kirigami synthesis methods design for a single target shape, we developed an approach for kirigami structures that can morph between many target curved surfaces. These patterns rely on many kinematic degrees of freedom (DOFs) to achieve drastic geometric changes. This opens doors to new multi-functional structures such as morphing antennas - which we demonstrated experimentally in collaboration with Prof. Ali Hajimiri's group at Caltech. However, due to their inherent flexibility, many-DOF structures present a challenge to implement as load-bearing engineering structures. 

To address this challenge, the second part of this work introduces the concept of multi-configuration rigidity. By embedding springs and unilateral constraints (e.g., contacts or cables) throughout a multi-DOF structure, multiple configurations are rigidly held by the prestress of the springs pushing against the unilateral constraints. This results in a structure capable of rigidly supporting finite loads in multiple configurations, allowing reconfiguration only upon application of a load above a critical magnitude. We developed a general theory and optimal design method for multi-configuration rigidity, which is also demonstrated experimentally.